补充人机接口用于触觉共享控制,将传感器可靠性信息传递给水下车辆运营商
IEEE transactions on haptics
|April 22, 2025
概括
这项研究引入了一种用于远程操作的新触觉共享控制 (HSC) 方法. 它允许操作员根据传感器可靠性调整机器辅助,减少工作量并改善控制,特别是使用不可靠的传感器.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 控制系统 控制系统
背景情况:
- 触觉共享控制 (HSC) 系统通过物理反,使人类操作员和自主系统之间能够共享控制.
- 在HSC中,操作员的工作负载受到覆盖自主命令所需的力量的影响,这些命令通常是在系统设计期间设置的.
- 不可靠的传感器数据可能导致人类意图和自主行动之间的差异,增加工作量并阻碍顺利控制.
研究的目的:
- 开发和评估一种新的方法,用于在HSC系统中向人类操作员传达传感器可靠性.
- 为了使操作员能够根据感知到的传感器可靠性动态调整机器的辅助水平.
- 为了减少操作员的心理需求,并改善控制过渡在场景中不可靠的传感器信息.
主要方法:
- 提出了一种新的HSC方法,可将传感器的可靠性可视化或传达给操作人员.
- 在模拟的远程操作水下车辆 (ROV) 环境中实施和测试了该方法.
- 对16名参与者进行了用户研究,以比较拟议的方法与传统的HSC方法.
主要成果:
- 拟议的方法有效地向操作人员传达了传感器的可靠性.
- 使用新方法的操作员与传统的HSC相比,精神需求减少.
- 该系统在处理不可靠的传感器数据时,促进了更顺的控制过渡.
结论:
- 传感器可靠性的沟通对于HSC系统的知情决策至关重要.
- 开发的方法提高了操作员的情境意识和控制适应能力.
- 这种方法为HSC应用提供了显著的改进,特别是在像ROV运营这样的环境中,具有固有的传感器挑战.
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